CN109144111A - A kind of intelligent security guard patrol robot - Google Patents
A kind of intelligent security guard patrol robot Download PDFInfo
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- CN109144111A CN109144111A CN201811098971.9A CN201811098971A CN109144111A CN 109144111 A CN109144111 A CN 109144111A CN 201811098971 A CN201811098971 A CN 201811098971A CN 109144111 A CN109144111 A CN 109144111A
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- 239000000779 smoke Substances 0.000 claims abstract description 15
- 230000004888 barrier function Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000011161 development Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 241000219098 Parthenocissus Species 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 230000006870 function Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 230000018109 developmental process Effects 0.000 description 7
- 230000032683 aging Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007115 recruitment Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
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- 239000013078 crystal Substances 0.000 description 1
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- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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Abstract
The invention discloses a kind of intelligent security guard patrol robots of security robot technical field, including car body, the left end of the car body is connected with rear axle, and the upper and lower ends of car body are arranged in back axis, one end that the rear axle is located on the outside of car body has been connected by key driving wheel, control device is also equipped on the car body, the control device includes 51 single-chip microcontrollers, image capture module, smoke sensor device, power module, camera flash, full angle holder, Train-borne recorder, steering engine module, alarm modules, level switch module, tracking module, mechanical arm, PC host computer terminal, mobile phone APP terminal and vehicle-mounted fire extinguisher, the present invention can be according to regulation route automatic cruising, after detecting threat of fire, original place alarm, wait administrator's rescue, and it automatically switches under manual mode, administrator reaches Later, it is according to circumstances withdrawn by the remote-controlled robot of mobile phone APP terminal.
Description
Technical field
The invention discloses a kind of intelligent security guard patrol robots, specially security robot technical field.
Background technique
Currently, the development of security industry has several major issues urgently to be resolved: recruitment demand is sufficient, but occurs serious
Recruitment famine problem；Practitioner's low culture quality；Practitioner's aging is serious, and practitioner reaches 55% within 40 years old or more, from
Industry personnel's aging trend allows of no optimist.In today that " made in China " is strided forward to " Chinese intelligence is made ", traditional manufacture lifts one after another
" tide of changing planes " cost squeeze, in the security industry that heavy dependence manpower goes on patrol and monitors, this demand is especially urgent.According to estimating
It counts the year two thousand twenty China security protection market scale to expect to reach trillion, the special mechanicals such as security protection and unmanned plane field has advantage especially.This
Preceding existing industrial robot replaces the precedent of the manual labor of heavy complexity, has solved the problems, such as operation in the presence of a harsh environment.
Nowadays, intelligent security guard robot adapts to era development demand, handles safety precaution accident for people, will become the following intelligent security guard
Important development direction.
Security industry is an important subdivision field of robot technology application, is the basic need of the national life sense of security
It asks.China's security industry started to walk since the end of the seventies in last century, with the development of economy, improvement of living standard, from tradition
The extensive use of the door lock antitheft Fingerprint Lock, security door, the video monitoring system that are seen everywhere in city till now etc. all embody
People's tight demand growing day by day to safety precaution out, traditional security protection system are gradually unable to satisfy growing security protection and need
It asks, is faced with development bottleneck.For this purpose, we have proposed a kind of intelligent security guard patrol robots to come into operation, it is above-mentioned to solve
Problem.
Summary of the invention
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of intelligent security guard patrol robot
Problem.
To achieve the above object, the invention provides the following technical scheme: a kind of intelligent security guard patrol robot, including vehicle
Body, the left end of the car body is connected with rear axle, and the upper and lower ends of car body are arranged in back axis, and the rear axle is located at outside car body
One end of side has been connected by key driving wheel, runs through on the car body and is connected with axis, and axis is located at the right side of rear axle, described
One end that axis is located on the outside of car body is connected with directive wheel, is connected between the driving wheel and directive wheel by main crawler belt, described
Cylinder is also connected on car body, the telescopic rod on the right side of the cylinder is connect with front axis, and front axle is mounted on leg and caterpillar track,
Axis is run through in the left end of the leg and caterpillar track；
Control device is also equipped on the car body, the control device includes 51 single-chip microcontrollers, image capture module, smog
Sensor, power module, camera flash, full angle holder, Train-borne recorder, steering engine module, alarm modules, level conversion
Module, tracking module, mechanical arm, PC host computer terminal, mobile phone APP terminal and vehicle-mounted fire extinguisher；
The tracking module that is, after transmitting tube transmitting infrared ray, is encountered infrared after barrier by the way of infrared obstacle avoidance
Line reflection is received pipe reception back, and reception pipe conducting, after level switch module processing, module exports low level, such as
Arnotto outside line, which does not encounter barrier, to be reflected back toward, and reception pipe is not turned on, after level switch module processing, mould
Block exports high level；The mechanical arm is used to clear up the failure on trolley periphery；The bluetooth module is for trolley and PC host computer
Communication between terminal, 51 single-chip microcontroller receive and execute the various control instructions assigned by the mobile phone APP terminal, and will
Collected information is uploaded to mobile phone APP terminal；The smoke sensor device is uploaded to institute for acquiring current smoke condition
It states in 51 single-chip microcontrollers, when there is fire, by 51 single-chip microcontroller control vehicle-mounted fire extinguisher starting, realizes fire extinguishing；The steering engine
Module controls the operation of trolley driving wheel by mobile phone APP terminal, and the mechanical arm is driven to remove barrier；
Described image acquisition module is used for the operation with trolley, acquires the image on periphery in real time, and by the real-time of acquisition
Image is uploaded to PC host computer terminal；The Train-borne recorder is mounted on full angle holder, realizes the Train-borne recorder
Full angle rotation, for acquiring trolley surrounding enviroment image, wherein the full angle holder is by described 51 monolithic processor controlled steps
It realizes and rotates into motor；The camera flash avoids whole in the PC host computer for preventing light around trolley too dark
The problem of remote reviewing is less than ambient enviroment on end；51 single-chip microcontroller is also connect with alarm modules, when there is fire, by institute
It states 51 single-chip microcontrollers and controls it and sound an alarm；The power module provides stable voltage for 51 single-chip microcontroller；
The mobile phone APP terminal is developed for communicating mobile phone with the bluetooth module on trolley using Google
Design APP on platform, on the interface APP, there is a different buttons, function be the control all around of trolley, differential steering control,
Smoke collection, gravity sensing, camera rotate order button, and by sending different instructions to 51 single-chip microcontroller, trolley is done
Execute corresponding movement；
The PC host computer terminal is by described image acquisition module and the Train-borne recorder to trolley position
Present image is acquired, and real-time display is carried out after handling by 51 single-chip microcontroller, and people pass through observation present image information,
It judges and the corresponding mode of each trolley execution is controlled by the mobile phone APP terminal.
Preferably, the main crawler belt is made of creeper tread, track section and track pin, and wherein track section is sequentially connected in inside
Creeper tread, and sprocket wheel cooperation is formed between track section and driving wheel and directive wheel.
Preferably, the leg and caterpillar track is up-narrow and down-wide drops, and the two sides up and down of the leg and caterpillar track have
Small stomidium and big stomidium, wherein small stomidium and big stomidium by its internal bearing installed respectively with front axle and middle axis connection.
Preferably, the FLASH memory of 60KB and the data storage of 2KB built in 51 single-chip microcontroller, in its activity
250 μ A/MIPS of power consumption, the leakage current of input port are up to 50nA when mode.
Preferably, described image acquisition module uses OV2640 camera, and the maximum resolution of camera output is 1200*
1000, the format of output is YUV and RGB, and the image of JPEG, image transmitting speed highest, which can achieve, reaches 15 frames/second.
Preferably, 51 single-chip microcontroller is also connect with pavement detection module and drive module；The pavement detection module is adopted
With the reflective infrared emission photoelectric sensor of ST188, by high transmitting power infrared photodiode and highly sensitive photoelectric crystal
Pipe composition；The drive module is driven using direct current generator, and cooperates LM298 driving chip, and the stabilization of line walking trolley is kept to turn
Speed and torque output.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention can be according to regulation route automatic cruising, after detecting threat of fire, and original place alarm waits pipe
Reason person's rescue, and automatically switch under manual mode, it is according to circumstances remote-controlled by mobile phone APP terminal after administrator reaches
Robot is withdrawn, and as in finding that someone enters under specific unmanned place, alarm is driven, and in a manual mode, administrator can pass through
Remote-control handle controls complete machine movement, detects fire or is recorded or real-time transmission image data by way of vehicle carried mobile phone.
2, the present invention adapts to more complicated severe terrain environment, climbing stairs turn under the assistance of two leg and caterpillar tracks
More irrigation canals and ditches, climb up and over 45 ° of slopes etc..The driving motor of main crawler belt drives rear axle rotation, and mechanism is made to realize traveling movement；Leg and caterpillar track
It on the outside of car body, is arranged symmetrically, the front-wheel of driving wheel and main caterpillar system is coaxial, using motor driven, realizes obstacle detouring movement.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is control system functional block diagram of the present invention.
In figure: 1 car body, 2 main crawler belts, 3 control systems, 4 rear axles, 5 driving wheels, 6 axis, 7 directive wheels, 8 leg and caterpillar tracks, 9
Front axle, 10 cylinders, 11 51 single-chip microcontrollers, 12 image capture modules, 13 smoke sensor devices, 14 power modules, the flash of light of 15 cameras
Lamp, 16 full angle holders, 17 Train-borne recorders, 18 steering engine modules, 20 alarm modules, 21 level switch modules, 22 tracking modules,
23 mechanical arms, 24PC host computer terminal, 25 mobile phone APP terminals, 26 vehicle-mounted fire extinguishers.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of technical solution referring to FIG. 1-2: a kind of intelligent security guard patrol robot, including car body 1,
The left end of the car body 1 is connected with rear axle 4, and rear axle 4 is symmetricly set on the upper and lower ends of car body 1, and the rear axle 4 is located at car body
(1) one end on the outside of has been connected by key driving wheel 5, runs through on the car body 1 and is connected with axis 6, and axis 6 is located at rear axle 4
Right side, one end that the axis 6 is located at the outside of car body 1 is connected with directive wheel 7, passes through between the driving wheel 5 and directive wheel 7
Main crawler belt 2 connects, and cylinder 10 is also connected on the car body 1, and the telescopic rod and front axle 9 on 10 right side of cylinder are rotatablely connected,
And front axle 9 is mounted on leg and caterpillar track 8, axis 6 is run through in the left end of the leg and caterpillar track 8；
Control device 3 is also equipped on the car body 1, the control device 3 includes 51 single-chip microcontrollers 11, image capture module
12, smoke sensor device 13, power module 14, camera flash 15, full angle holder 16, Train-borne recorder 17, steering engine module
18, alarm modules 20, level switch module 21, tracking module 22, mechanical arm 23, PC host computer terminal 24, mobile phone APP terminal 25
And vehicle-mounted fire extinguisher 26；
The tracking module 21 that is, after transmitting tube transmitting infrared ray, is encountered red after barrier by the way of infrared obstacle avoidance
Outside line, which reflects, is received pipe reception, and reception pipe conducting, after the level switch module 20 processing, module exports low electricity
Flat, if infrared ray does not encounter barrier and would not be reflected back toward, reception pipe is not turned on, at the level switch module 20
After reason, module exports high level；The mechanical arm 22 is used to clear up the failure on trolley periphery；The bluetooth module 23 is used for trolley
With the communication between PC host computer terminal 24,51 single-chip microcontroller 11 is received and is executed and assigned by the mobile phone APP terminal 25
Various control instructions, and collected information is uploaded to mobile phone APP terminal 25；The smoke sensor device 13 is current for acquiring
Smoke condition, and be uploaded in 51 single-chip microcontroller 11, when there is fire, vehicle-mounted fire extinguishing controlled by 51 single-chip microcontroller 11
Device 26 starts, and realizes fire extinguishing；The steering engine module 18 controls the operation of trolley driving wheel 6 by mobile phone APP terminal 25, and drives
The mechanical arm 22 removes barrier；
Described image acquisition module 12 is used for the operation with trolley, acquires the image on periphery in real time, and by the reality of acquisition
When image be uploaded to PC host computer terminal 24；The Train-borne recorder 17 is mounted on full angle holder 16, is realized described vehicle-mounted
The full angle of recorder rotates, for acquiring trolley surrounding enviroment image, wherein the full angle holder 16 is by 51 monolithic
The stepper motor that machine 11 controls realizes rotation；The camera flash 15 is avoided for preventing light around trolley too dark
The problem of remote reviewing is less than ambient enviroment in the PC host computer terminal 24；51 single-chip microcontroller 11 also connects with alarm modules 19
It connects, when there is fire, it is controlled by 51 single-chip microcontroller 11 and is sounded an alarm；The power module 14 is 51 single-chip microcontroller 11
Stable voltage is provided；
The mobile phone APP terminal 25 uses Google for communicating mobile phone with the bluetooth module 23 on trolley
APP is designed in development platform, on the interface APP, there is different buttons, function is control all around, the differential steering of trolley
Control, smoke collection, gravity sensing, camera rotate order button, by sending different instructions to 51 single-chip microcontroller 11,
Trolley does the corresponding movement of execution；
The PC host computer terminal 24 is by described image acquisition module 12 and the Train-borne recorder 17 to where trolley
The present image of position is acquired, and real-time display is carried out after handling by 51 single-chip microcontroller 11, and people are current by observation
Image information judges to control each trolley by the mobile phone APP terminal 25 and execute corresponding mode.
Wherein, the main crawler belt 2 is made of creeper tread, track section and track pin, and wherein track section is sequentially connected in inside
Creeper tread, and sprocket wheel cooperation is formed between track section and driving wheel 5 and directive wheel 7, the leg and caterpillar track 8 is up-narrow and down-wide water
The two sides up and down of drop-wise, the leg and caterpillar track 8 have small stomidium and big stomidium, wherein small stomidium and big stomidium pass through it
Inside installation bearing connect respectively with front axle 9 and axis 6, the FLASH memory of 60KB built in 51 single-chip microcontroller 11 and
The data storage of 2KB, the 250 μ A/MIPS of power consumption in its activity pattern, the leakage current of input port is up to 50nA, described
Image capture module 12 uses OV2640 camera, and the maximum resolution of camera output is 1200*1000, and the format of output is
The image of YUV and RGB, JPEG, image transmitting speed highest, which can achieve, reaches 15 frames/second, and 51 single-chip microcontroller 11 is gone back and road
Face detection module is connected with drive module；The pavement detection module uses the reflective infrared emission photoelectric sensor of ST188, by
High transmitting power infrared photodiode and highly sensitive phototransistor composition；The drive module is driven using direct current generator
It is dynamic, and cooperate LM298 driving chip, keep the stabilized (steady-state) speed and torque output of line walking trolley.
Working principle: common road conditions are operated at by main crawler belt 2 and are advanced, the piston rod on cylinder 10 is shunk at this time, swinging kick
Crawler belt 8 lifts, and when mechanism touches barrier, main crawler belt 2 stops, and control cylinder 10 acts, and piston rod stretches out, and drives front axle 9
And the small end decentralization of leg and caterpillar track 8, the leg and caterpillar track 8 of front end stress is rotated around axis 6 at this time, compresses barrier and around compression
Point rotation, the lifting force that car body 1 is provided by leg and caterpillar track 8 at axis 6 turn around the contact point on main 2 rear end of crawler belt and ground
Dynamic, until rotation stops when piston rod movement to extreme position, driving wheel 5 starts, car body 1 start on climb step, continue on climb
When to main crawler belt 2 by support is stablized, control cylinder 10 is acted, and piston rod is shunk, and leg and caterpillar track 8 is driven to lift, and completes obstacle detouring
Movement；
Tracking module 21 that is, after transmitting tube transmitting infrared ray, encounters infrared ray after barrier by the way of infrared obstacle avoidance
It reflects and is received pipe reception, reception pipe conducting, after the processing of level switch module 20, module exports low level, such as arnotto
Outside line, which does not encounter barrier, to be reflected back toward, and reception pipe is not turned on, after the processing of level switch module 20, module output
High level；Mechanical arm 22 is used to clear up the failure on trolley periphery；Bluetooth module 23 is used between trolley and PC host computer terminal 24
Communication, 51 single-chip microcontrollers 11, which receive, simultaneously executes the various control instructions assigned by mobile phone APP terminal 25, and by collected information
It is uploaded to mobile phone APP terminal 25；Smoke sensor device 13 is uploaded in 51 single-chip microcontrollers 11 for acquiring current smoke condition,
When there is fire, is started by 51 single-chip microcontrollers 11 control vehicle-mounted fire extinguisher 26, realize fire extinguishing；Steering engine module 18 passes through cell phone application
Terminal 25 controls the operation of trolley driving wheel 6, and mechanical arm 22 is driven to remove barrier；
Image capture module 12 acquires the image on periphery, and will be on the realtime graphic of acquisition with the operation of trolley in real time
Reach PC host computer terminal 24；Train-borne recorder 17 is mounted on full angle holder 16, realizes the full angle of Train-borne recorder 17
Rotation, for acquiring trolley surrounding enviroment image, wherein full angle holder 16 is realized by the stepper motor that 51 single-chip microcontrollers 11 control
Rotation；Camera flash 15 avoids in PC host computer terminal 24 remote reviewing not for preventing light around trolley too dark
To ambient enviroment；51 single-chip microcontrollers 11 are also connect with alarm modules 19, when there is fire, are controlled it by 51 single-chip microcontrollers 11 and are issued police
Report；It is that 51 single-chip microcontrollers 11 provide stable voltage by power module 14；
Mobile phone APP terminal 25 uses Google's development platform for communicating mobile phone with the bluetooth module 23 on trolley
Upper design APP has different buttons on the interface APP, and function is control all around, the differential steering control, smog of trolley
Acquisition, gravity sensing, camera rotate order button, and by sending different instructions to 51 single-chip microcontrollers 11, trolley does execution phase
The movement answered；
PC host computer terminal 24 passes through image capture module 12 and Train-borne recorder 17 to the current figure of trolley position
As being acquired, real-time display is carried out after handling by 51 single-chip microcontrollers 11, people are judged by observation present image information
Corresponding mode is executed to control each trolley by mobile phone APP terminal 25.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of intelligent security guard patrol robot, it is characterised in that: including car body (1), after the left end of the car body (1) is connected with
Axis (4), and rear axle (4) is symmetricly set on the upper and lower ends of car body (1), it is logical that the rear axle (4) is located at one end on the outside of car body (1)
Crossing key connection has driving wheel (5), runs through on the car body (1) and is connected with axis (6), and axis (6) is located at the right side of rear axle (4)
Side, the axis (6) are located at one end on the outside of car body (1) and are connected with directive wheel (7), the driving wheel (5) and directive wheel (7) it
Between connected by main crawler belt (2), be also connected with cylinder (10) on the car body (1), the telescopic rod on the right side of the cylinder (10) with
Front axle (9) rotation connection, and front axle (9) is mounted on leg and caterpillar track (8), axis is run through in the left end of the leg and caterpillar track (8)
(6)；
It is also equipped with control device (3) on the car body (1), the control device (3) includes 51 single-chip microcontrollers (11), Image Acquisition
Module (12), smoke sensor device (13), power module (14), camera flash (15), full angle holder (16), vehicle-mounted recording
Instrument (17), steering engine module (18), alarm modules (20), level switch module (21), tracking module (22), mechanical arm (23), PC
Host computer terminal (24), mobile phone APP terminal (25) and vehicle-mounted fire extinguisher (26)；
The tracking module (22) that is, after transmitting tube transmitting infrared ray, is encountered infrared after barrier by the way of infrared obstacle avoidance
Line reflection is received pipe reception back, and reception pipe conducting, after the level switch module (20) processing, module exports low electricity
Flat, if infrared ray does not encounter barrier and would not be reflected back toward, reception pipe is not turned on, through the level switch module (20)
After processing, module exports high level；The mechanical arm (22) is used to clear up the failure on trolley periphery；The bluetooth module (23) is used
Communication between trolley and the PC host computer terminal (24), 51 single-chip microcontroller (11) receive and execute by the mobile phone
The various control instructions that APP terminal (25) is assigned, and collected information is uploaded to the mobile phone APP terminal (25)；It is described
Smoke sensor device (13) is uploaded in 51 single-chip microcontroller (11) for acquiring current smoke condition, when there is fire,
Vehicle-mounted fire extinguisher (26) starting is controlled by 51 single-chip microcontroller (11), realizes fire extinguishing；The steering engine module (18) passes through institute
The operation of mobile phone APP terminal (25) control trolley driving wheel (6) is stated, and the mechanical arm (22) is driven to remove barrier；
Described image acquisition module (12) is used for the operation with trolley, acquires the image on periphery in real time, and by the real-time of acquisition
Image is uploaded to the PC host computer terminal (24)；The Train-borne recorder (17) is mounted on the full angle holder 916, real
The full angle rotation of the existing Train-borne recorder (17), for acquiring trolley surrounding enviroment image, wherein the full angle holder
(16) rotation is realized by the stepper motor of 51 single-chip microcontroller (11) control；The camera flash (15) is for preventing trolley
Surrounding light is too dark, avoids the problem that remote reviewing is less than ambient enviroment on the PC host computer terminal (24)；Described 51 is single
Piece machine (11) is also connect with alarm modules (19), when there is fire, is controlled it by 51 single-chip microcontroller (11) and is sounded an alarm；Institute
Stating power module (14) is that 51 single-chip microcontroller (11) provides stable voltage；
The mobile phone APP terminal (25) uses Google for communicating mobile phone with the bluetooth module (23) on trolley
APP is designed in development platform, on the interface APP, there is different buttons, function is control all around, the differential steering of trolley
Control, smoke collection, gravity sensing, camera rotate order button, by sending different fingers to 51 single-chip microcontroller (11)
It enables, trolley does the corresponding movement of execution；
The PC host computer terminal (24) is by described image acquisition module (12) and the Train-borne recorder (17) to trolley institute
Present image in position is acquired, and carries out real-time display after handling by 51 single-chip microcontroller (11), people pass through observation
Present image information judges and controls the corresponding mode of each trolley execution by the mobile phone APP terminal (25).
2. a kind of intelligent security guard patrol robot according to claim 1, it is characterised in that: the main crawler belt (2) is by carrying out
Band plate, track section and track pin composition, wherein track section is sequentially connected creeper tread in inside, and track section and driving wheel (5) and
Sprocket wheel cooperation is formed between directive wheel (7).
3. a kind of intelligent security guard patrol robot according to claim 1, it is characterised in that: the leg and caterpillar track (8) is
The two sides up and down of up-narrow and down-wide drops, the leg and caterpillar track (8) have small stomidium and big stomidium, wherein small stomidium and
Big stomidium is connect with front axle (9) and axis (6) by its internal bearing installed respectively.
4. a kind of intelligent security guard patrol robot according to claim 1, it is characterised in that: in 51 single-chip microcontroller (11)
The FLASH memory of 60KB and the data storage of 2KB are set, 250 μ A/MIPS of power consumption, input port in its activity pattern
Leakage current be up to 50nA.
5. a kind of intelligent security guard patrol robot according to claim 1, it is characterised in that: described image acquisition module
(12) OV2640 camera is used, the maximum resolution of camera output is 1200*1000, and the format of output is YUV and RGB,
The image of JPEG, image transmitting speed highest, which can achieve, reaches 15 frames/second.
6. a kind of intelligent security guard patrol robot according to claim 1, it is characterised in that: 51 single-chip microcontroller (11) is also
It is connect with pavement detection module and drive module；The pavement detection module uses the reflective infrared emission photoelectric transfer sense of ST188
Device is made of high transmitting power infrared photodiode and highly sensitive phototransistor；The drive module uses direct current
Machine driving, and cooperate LM298 driving chip, keep the stabilized (steady-state) speed and torque output of line walking trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811098971.9A CN109144111A (en) | 2018-09-20 | 2018-09-20 | A kind of intelligent security guard patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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